Technically I think you are free to build have other browser engines on iOS. However, JIT or other dynamically compiled code is not allowed because that's a security risk. You can't have a browser in 2019 with interpreted javascript.
I believe this is false, see 2.5.6 and 4.7 of https://developer.apple.com/app-store/review/guidelines/
But they do allow Opera Mini, a 'browser' for iOS where rendering is done in the cloud.
In practice in seems like both Chrome and Firefox have their renderers and JavaScript runtimes so tightly integrated that it's very hard to replace the later.